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Topological Localization Based on Salient Regions in Unknown Environments

Topological Localization Based on Salient Regions in Unknown...

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International Conference on Pattern Recognition

作者： Lu Wang Yuling Li Zixing Cai Department of Computer Science Zhongyuan University of Technology Zhengzhou Zhengzhou Henan China Center of Intelligent System and Software School of Information Science and Engineering Central South University Changsha Hunan China

ISBN: (纸本)0769525210

This paper presents a new topological localization system for mobile robot navigation based on salient visual regions. These salient regions are obtained by computing the opponencies of color and texture among multi-scale image spaces. Then they are organized to construct the vertex of topological map using hidden Markov model. So localization problem can be transformed to the evaluation problem of HMM. In our system, the topological map of environment can be created online and the robot locates itself concurrently. Experiments show that higher ratio of vertex recognition, that is localization, is obtained. And our system can guarantee mobile robot navigation safely in unknown environments

关键词： Mobile robots Hidden Markov models Lighting Navigation Prototypes Histograms Space technology Robot kinematics Cameras computer vision

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Hierarchical synthesis of complex DSP functions using IRIS

Hierarchical synthesis of complex DSP functions using IRIS

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作者： Yi, Ying Woods, Roger IEEE Queen's University of Belfast Belfast BT9 5AH United Kingdom System-Level Integration Group University of Edinburgh Edinburgh EH9 3JL United Kingdom School of Electronics Electrical Engineering and Computer Science Queen's University of Belfast Belfast BT3 9DT United Kingdom School of Engineering and Electronics University of Edinburgh Edinburgh United Kingdom School of Electrical and Electronic Engineering Queen's University of Belfast

"white box" design methodology, which deals with hierarchical synthesis issues by providing a bridge between a high-level algorithm representation and lower level design tools, is presented. It illustrates tradeoffs when dealing with designs in a hierarchical and flattened manner. An enhanced Minnesota architectural synthesis scheduling algorithm is given, which gives highly efficient field programmable gate array solutions by providing access to parameterized expressions for datapath latencies and is applied to normalized lattice and delayed least mean square filter examples. © 2006 IEEE.

关键词： Hierarchical systems

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The Effect of Key and Tempo on Audio Onset Detection Using Machine Learning Techniques: A Sensitivity Analysis

The Effect of Key and Tempo on Audio Onset Detection Using M...

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IEEE International Symposium on Multimedia

作者： Ching-hua Chuan Elaine Chew Department of Computer Science Integrated Media Systems Center Viterbi School of Engineering University of Southern California USA Epstein Department of Industrial & System Engineering Integrated Media Systems Center Viterbi School of Engineering University of Southern California USA

ISBN: (纸本)0769527469;9780769527468

In this paper, we explore the effect of musical context on audio onset detection using machine learning techniques. We extract the signal intensity and frequency energy of audio as the attributes of input instances for the machine learning techniques. The audio is synthesized from MIDI files, providing exact information of onset events. We test three state-of-the-art machine learning algorithms, support vector machines (SVM), neural networks (NN), and Naive Bayes (NB) with Ada boosting, for learning and classifying audio onsets. We found that SVMs perform best in general, based on the average of training and 10-fold cross validation errors as the evaluation criterion. We then test the SVM and NN, the two best performing methods, on Bach's Prelude in C major BWV 943, transposed to different keys and time-stretched to various tempi. The error rates ranged from 23.91% (when training set key and tempo equals those of the test set) to 37.22% (when the key is off by four accidentals) and 37.91% (when tempo is 20 beats per minute faster). The results show that audio onset detection performs significantly better when the key and tempo attributes of the test and training sets concur, than when they are different, thus supporting the utility of tempo and key knowledge in designing onset detection systems, or in prescribing confidence statistics to onset detection outcomes

关键词： Machine learning Sensitivity analysis Testing Support vector machines Support vector machine classification Neural networks Performance evaluation Data mining Frequency Network synthesis

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A control-design-based solution to robotic ecology: Autonomy of achieving cooperative behavior from a high-level astronaut command

A control-design-based solution to robotic ecology: Autonomy...

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作者： Wang, Jing Qu, Zhihua Ihlefeld, Curtis M. Hull, Richard A. Department of Electrical and Computer Engineering University of Central Florida Orlando FL 32816 United States Kennedy Space Center FL 32899 United States Lockheed Martin Missiles and Fire Control 5600 Sand Lake Rd. MP-450 Orlando FL 32819 United States School of Electrical and Computer Science University of Central Florida IEEE AIAA University of Central Florida Department of Electrical and Computer Engineering National Aeronautics and Space Administration Kennedy Space CenterKennedy Space Center Applied Physics Lab. Advanced Concepts Business Unit Science Applications International Corporation SAIC IEEE Control System Society

In this paper, we propose a cooperative control strategy for a group of robotic vehicles to achieve the specified task issued from a high-level astronaut command. The problem is mathematically formulated as designing the cooperative control for a general class of multiple-input-multiple-output (MIMO) dynamical systems in canonical form with arbitrary but finite relative degrees such that the outputs of the overall system converge to the explicitly given steady state. The proposed cooperative control for individual vehicle only need to use the sensed and communicated outputs information from its local neighboring vehicles. No fixed leader and time-invariant communication networks are assumed among vehicles. Particularly, a set of less-restrictive conditions on the connectivity of the sensor/communication networks are established, under which it is rigorously proven by using the newly found nice properties of the convergence of sequences of row stochastic matrices that the cooperative objective of the overall system can be achieved. Simulation results for a group of vehicles achieving a target and surrounding a specified object in formation are provided to support the proposed approach in this paper.

关键词： Robotics

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Design and evaluation of a PLL-based position controller for sensorless vector control of permanent-magnet synchronous machines

Design and evaluation of a PLL-based position controller for...

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IECON 2006 - 32nd Annual Conference on IEEE Industrial Electronics

作者： Burgos, Rolando P. Kshirsagar, Parag Lidozzi, Alessandro Jang, Jihoon Wang, Fred Boroyevich, Dushan Rodriguez, Pedro Sul, Seung-Ki Virginia Tech Blacksburg VA 24061 United States ROMA TRE University Department of Mechanical and Industrial Engineering Via della Vasca Navale 79 00146 Rome Italy HEV System Engineering Team Hyundai Motor Company Hwaseong-Si Gyeonggi-Do 772-1 Korea Republic of Department of Electrical Engineering Technical University of Catalonia EUETIT Colom 1 08222 - Barcelona Spain School of Electrical Engineering and Computer Science Seoul National University Seoul 151-744 Korea Republic of

ISBN: (纸本)1424401364

This paper presents a rotor position controller for sensorless vector control of permanent magnet synchronous machines (PMSM) based on a synchronous d-q frame phase-locked loop (PLL). Extending the capabilities of PLL's for grid-connected converters-using feedback linearization to ensure a constant dynamic response regardless of the operating region and rotor speed, the proposed controller takes advantage of the sinusoidal and balanced PMSM back-EMF voltages synchronizing the estimated and actual d-q frames. The resultant controller structure is readily linearized providing an accurate design tool based on frequency response specifications. A complete design procedure is provided, together with simulation and experimental results with a 3.5 kW PMSM drive, all of which verify the excellent results attained by the proposed PLL-based position controller. © 2006 IEEE.

关键词： Controllers

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Binary sequences with optimal correlations and large linear span

Binary sequences with optimal correlations and large linear ...

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2006 IEEE International Conference on Communications, ICC 2006

作者： Xiangyong, Zeng Lei, Hu Qingchong, Liu Yuhong, Zhu Faculty of Mathematics and Computer Science Hubei University Wuhan Hubei 430062 China Graduate School Chinese Academy of Sciences 19A Yuquan Road Beijing 100049 China Department of Electrical and System Engineering Oakland University Rochester MI 48309 United States Laudis Systems LLC 80 Newfield Avenue Edison NJ 08837 United States

ISBN: (纸本)1424403553

A family of binary sequences is presented and proved to have optimal correlations and large linear span. It includes the small set of Kasami sequences, No sequence set and TN sequence set as special cases. A lower bound on the linear span of the family is provided. With suitable choices of parameters, it is proved that the family has exponentially larger linear spans than both No sequences and TN sequences. © 2006 IEEE.

关键词： Binary sequences

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Advantages of inset PM machines for zero-speed sensorless position detection

Advantages of inset PM machines for zero-speed sensorless po...

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Conference Record of the IEEE Industry Applications Society Annual Meeting (IAS)

作者： Nicola Bianchi Silverio Bolognani Ji-hoon Jang Seung-ki Sul Department of Electrical Engineering University of Padova Padova Italy HEV System Engineering Team Corporate Research & Development Division Hyundai motor company South Korea School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea

The aim of this paper is to analyze the behavior of a sensorless control system based on a high-frequency signal injection combined with an inset PM motor. The rotor position of a synchronous permanent magnet (PM) motor with anisotropic rotor can be detected by the control system which superimposes a high-frequency signal to the steady-state stator voltage. The corresponding high-frequency current is modulated by the rotor anisotropy and used to determine the rotor position. These techniques are effective at zero and at low motor speed. Both saturation and cross-coupling have a heavy influence on the correct rotor position detection. In order to highlight the effectiveness of the sensorless technique, the tests are carried out at various operating conditions

关键词： Rotors Permanent magnet motors Synchronous motors Sensorless control Anisotropic magnetoresistance Signal analysis Magnetic analysis Voltage control Control systems Steady-state

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Time-varying failure rate extraction in electric power distribution equipment

Time-varying failure rate extraction in electric power distr...

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International Conference on Probabilistic Methods Applied to Power systems (PMAPS)

作者： Jong-Fil Moon Jea-Chul Kim Hee-Tae Lee Sang-Seung Lee Yong Tae Yoon Kyung-Bin Song Power System Laboratory Korea Electrical Engineering and Science Research Institute Seoul South Korea Department of Electrical Engineering Soongsil University Seoul South Korea School of Electrical Engineering and Computer Sciences Seoul National University Seoul South Korea

Reliability evaluation of power distribution system is very important to both power utilities and customers. It presents the probabilistic number and duration of interruption such as failure rate, SAIDI, SAIFI, and CAIDI. However, it has a fatal weakness at reliability index because of accuracy of failure rate. In this paper, the time-varying failure rate (TFR) of power distribution system equipment is extracted from the recorded failure data of Korea Electric Power Corporation (KEPCO) in Korea. For TFR extraction, it is used that the fault data accumulated by KEPCO during 10 years. The TFR is approximated to bathtub curve using the exponential (random failure) and Weibull (aging failure) distribution function. In addition, Kaplan-Meier estimation is applied to TFR extraction because of incomplete failure data of KEPCO. Finally, probability plot and regression analysis is applied. It is presented that the extracted TFR is more effective and useful than mean failure rate (MFR) through the comparison between TFR and MFR

关键词： Power system reliability Data mining Weibull distribution Power distribution Failure analysis Power systems Time varying systems Moon Switches Hazards

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Interoperable adaptive educational hypermedia: A web service definition

Interoperable adaptive educational hypermedia: A web service...

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6th International Conference on Advanced Learning Technologies, ICALT 2006

作者： Meccawy, Maram Celik, Ilknur Cristea, Alexandra Stewart, Craig Ashman, Helen School of Computer Science and Information Technology University of Nottingham Jubilee Campus Wollaton Road Nottingham NG8 1BB United Kingdom Information System Department Faculty of Mathematics and Computing Science Technical University Eindhoven Den Dolech 2 5600 MB Eindhoven Netherlands Department of Electronic Engineering Queen Mary University of London Mile End Road London El 4NS United Kingdom

ISBN: (纸本)0769526322

This paper presents an approach to resolve the problem of authoring and interchanging educational material, based on web services. Here we describe the ultimate goal, of reusing and interchanging freely adaptive eleaming material, shortly sketch previous solutions, showing their benefits but also limitations and then introduce our web-service based approach. Finally, we discuss the gains brought by our proposed solution. © 2006 IEEE.

关键词： E-learning

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Trajectory Planning for Tele-Robotic Skull Drill system

Trajectory Planning for Tele-Robotic Skull Drill System

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International Conference on Information and Automation (ICIA)

作者： Weimin Shen Jason Gu Yanjun Shen Electrical and Computer Eng Dalhousie University Halifax NS Canada School of Control Science and Engineering Shandong University China Institute of Nonlinear Complex System Three Gorges University Yichang Hubei China

This paper first gives a brief literature review about relevant technology, including sate-of-the-art surgical robotics, state-of-the-art image-guided neurosurgery and applications, and internet-based robotics. The architecture of the proposed tele-robotic skull drill system is presented in the paper, including the client/server control architecture for the telerobotic skull drill system, the mechanical interface between robotic arm and the skull drill, and control system for the telerobotic skull drill system. Trajectory planning for this telerobotic system is also given in the paper, including three phases, free motion position trajectory planning, free motion orientation trajectory planning, and position trajectory planning under constraints. Finally, the experiment is concluded in the paper.

关键词： Trajectory Skull Motion planning Robots Telerobotics Control systems Surgery Neurosurgery Internet Web server

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